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Driving behavior monitoring by smartphone sensors is one of the most investigated approaches to ameliorate road safety. Various methods are adopted in the literature; however, to the best of our knowledge, their robustness to the prediction of new unseen data from different drivers and road conditions is not explored. In this paper, a two-phase Machine Learning (ML) method with taking advantage of high-pass, low-pass, and wavelet filters is developed to detect driving brakes and turns. In the first phase, accelerometer and gyroscope filtered time series are fed into Random Forest and Artificial Neural Network classifiers, and the suspicious intervals are extracted by a high recall. Following that, in the next phase, statistical features calculated based on the obtained intervals are used to determine the false and true positive events. To compare the predicted and real labels of the recorded events and calculate the accuracy, a method that covers the limitations of previous sliding windows is also employed. Real-world experimental result shows that the proposed method can predict new unseen datasets with average F1-scores of 71% in brake detection and 82% in turn detection which is comparable with previous works. Moreover, by sensitivity analysis of our proposed model, it is proven that implementing high-pass and low-pass filters can affect the accuracy for turn detection up to 30%. [ABSTRACT FROM AUTHOR]